2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/168920Lecture notes for the tutorial at the workshop HPOPT 2008 - 10th International Workshop on High Performance Optimization Techniques (Algebraic Structure in Semidefinite Programming), June 11th to 13th, 2008, Tilburg University, The Netherlands.31 pagesOptimization and Control43A35, 52C17, 90C22, 94B65text